Implementation of the focal plane 2d apd array for hyperion lidar system

ABSTRACT

Aspects of the disclosure are related to a Lidar device, comprising: a vibrating fiber optic cantilever system on a transmit (TX) path; and a two-dimensional (2D) light sensor array on a receive (RX) path.

CROSS-REFERNCE TO RELATED-APPLICATIONS

This present application is a continuation of U.S. Application Ser. No.15/266,618, filed Sep. 15, 2016, which claims the benefit of U.S.Provisional Application No. 62/220,777 entitled “IMPLEMENTATION OF THEFOCAL PLANE 2D APD ARRAY FOR HYPERION LIDAR SYSTEM,” filed Sep. 18,2015, the entire contents of which are herein incorporated by referencein their entireties for all purposes.

FIELD

The subject matter disclosed herein relates to electronic devices, andmore particularly to methods, apparatuses, and systems for measuring thedistance to an object using light.

BACKGROUNDS

A Lidar (also LIDAR, LiDAR, or LADAR, portmanteau of “light” and“radar”) is a remote sensing technology that measures distance byilluminating a target with a laser and analyzing the reflected light.The ability to accurately range the distance to the objects in theimmediate environment is important for many mobile applications, such asindoor mapping and navigation, enhanced photography, or computer vision,etc.

The ability to quickly produce highly accurate 3D scans of objects willbe an important feature for mobile devices.

Known methods suffer from multiple disadvantages—a limited range, lowaccuracy, indoor operation limitations, etc. In many instancesconventional solutions cannot be accommodated by the mobile devices'small form factor.

SUMMARY

One aspect of the disclosure is related to a Lidar device, comprising: avibrating fiber optic cantilever system on a transmit (TX) path; and atwo-dimensional (2D) light sensor array on a receive (RX) path.

A method for implementing a Lidar device, comprising: implementing avibrating fiber optic cantilever system on a transmit (TX) path; andimplementing a two-dimensional (2D) light sensor array on a receive (RX)path.

A Lidar device, comprising: a vibrating fiber optic cantilever means ona transmit (TX) path; and a two-dimensional (2D) light sensing means ona receive (RX) path.

A non-transitory computer-readable medium comprising code which, whenexecuted by a processor, causes the processor to implement a methodcomprising: driving a vibrating fiber optic cantilever system on atransmit (TX) path of a Lidar device; and driving a two-dimensional (2D)light sensor array on a receive (RX) path of the Lidar device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is diagram illustrating an example device with which embodimentsof the disclosure may be practiced.

FIG. 2 is a diagram illustrating an example vibrating fiber opticcantilever system.

FIG. 3 is a diagram illustrating an example Lidar including both the TXand RX paths.

FIG. 4 is a diagram illustrating an example serial architecture forextracting data from a 2D light sensor array.

DETAILED DESCRIPTION

Embodiments of the disclosure are related to apparatuses, systems, andmethods for measuring distance by illuminating a target with a laser andanalyzing the reflected light.

Referring to FIG. 1, an example device 100 adapted for use with a Lidaris shown. The device 100 is shown comprising hardware elements that canbe electrically coupled via a bus 105 (or may otherwise be incommunication, as appropriate). The hardware elements may include one ormore processors 110, including without limitation one or moregeneral-purpose processors and/or one or more special-purpose processors(such as digital signal processing chips, graphics accelerationprocessors, and/or the like); one or more input/output devices 115including without limitation a Lidar 150, a mouse, a keyboard, aspeaker, a printer, and/or the like. The Lidar 150 may include ahardware Lidar controller.

The device 100 may further include (and/or be in communication with) oneor more non-transitory storage devices 125, which can comprise, withoutlimitation, local and/or network accessible storage, and/or can include,without limitation, a disk drive, a drive array, an optical storagedevice, solid-state storage device such as a random access memory(“RAM”) and/or a read-only memory (“ROM”), which can be programmable,flash-updateable, and/or the like. Such storage devices may beconfigured to implement any appropriate data stores, including withoutlimitation, various file systems, database structures, and/or the like.

The device 100 might also include a communication subsystem 130, whichcan include without limitation a modem, a network card (wireless orwired), an infrared communication device, a wireless communicationdevice and/or chipset (such as a Bluetooth device, an 802.11 device, aWi-Fi device, a WiMAX device, cellular communication facilities, etc.),and/or the like. The communications subsystem 130 may permit data to beexchanged with a network, other computer systems/devices, and/or anyother devices described herein. In many embodiments, the device 100 willfurther comprise a working memory 135, which can include a RAM or ROMdevice, as described above.

The device 100 also can comprise software elements, shown as beingcurrently located within the working memory 135, including an operatingsystem 140, device drivers, executable libraries, and/or other code,such as one or more application programs 145, which may comprise or maybe designed to implement methods, and/or configure systems, provided byother embodiments, as described herein. Merely by way of example, one ormore procedures described with respect to the method(s) discussed belowmight be implemented as code and/or instructions executable by acomputer (and/or a processor within a computer); in an aspect, then,such code and/or instructions can be used to configure and/or adapt ageneral purpose computer (or other device) to perform one or moreoperations in accordance with the described methods.

A set of these instructions and/or code might be stored on anon-transitory computer-readable storage medium, such as the storagedevice(s) 125 described above. In some cases, the storage medium mightbe incorporated within a computer device, such as the device 100. Inother embodiments, the storage medium might be separate from a computerdevice (e.g., a removable medium, such as a compact disc), and/orprovided in an installation package, such that the storage medium can beused to program, configure, and/or adapt a general purpose computer withthe instructions/code stored thereon. These instructions might take theform of executable code, which is executable by the computerized device100 and/or might take the form of source and/or installable code, which,upon compilation and/or installation on the device 100 (e.g., using anyof a variety of generally available compilers, installation programs,compression/decompression utilities, etc.), then takes the form ofexecutable code.

It will be apparent to those skilled in the art that substantialvariations may be made in accordance with specific requirements. Forexample, customized hardware might also be used, and/or particularelements might be implemented in hardware, software (including portablesoftware, such as applets, etc.), or both. Further, connection to othercomputing devices such as network input/output devices may be employed.

A Lidar, such as Lidar 150, may consist of two subsystems—a beamsteering element and a range finder. The beam steering element may steerthe projected laser beam to create a scanning pattern. And the rangefinder may convert the reflected light from the object being scannedinto information about the distance to different parts of the objectbased on such measurements and/or techniques as pulsed Time of Flight,phase shift Time of Flight, or coherent detection, etc. In oneembodiment, both the beam steering element and the range findersubsystems may be implemented with a very small form factor.

Therefore, a Lidar may include two light paths—a transmit (TX) paththrough which laser travels from the laser source to the object (target)being scanned, and a receive (RX) path through which the reflected lighttravels from the target to the light receiving element of the rangefinder.

In one embodiment, on the TX path, the scanning laser may be emittedfrom a fiber optic cable, such as a single mode or multimode fiber opticcable, and through a series of TX optics. The laser from the rangefinder subsystem may be coupled into the fiber optic cable.

Referring to FIG. 2, a diagram illustrating an example vibrating fiberoptic cantilever system 200 is shown. The fiber optic cable 210 may bethreaded through a piezo ceramic tube 220. The piezo ceramic tube 220may be fixed to the body of a device, such as device 100, at one end230, and free at the other end 240. The fiber optic cable 210 may befixed to the free end 240 of the piezo ceramic tube 220, while the freeend 250 of the fiber optic cable 210 may be extended further from thefree end 240 of the piezo ceramic tube 220 by a predetermined length. Assuch, a fixed-free vibrating cantilever system 200 may be created. Askilled artisan would recognize that the length of the free fiber opticcable extension outside the piezo ceramic tube 220 and other physicalproperties of the fiber optic cable 210 may determine the resonantfrequency of the cantilever.

By applying suitable driving signals, the piezo ceramic tube 220 may bedriven to vibrate at a desired frequency. When the piezo ceramic tube220 is driven to vibrate at the resonant frequency of the cantilever,the cantilever may be excited in the resonance mode. In other words,small vibrations at the base of the cantilever may be amplified and thetip (e.g., free end 250) of the fiber optic cable 210 may vibrate with alarge amplitude. Moreover, the motion of the tip (e.g., free end 250) ofthe fiber optic cable 210 may be controlled with suitable drivingsignals applied to the piezo ceramic tube 220. Therefore, a desiredscanning pattern may be implemented.

Simple TX optics, such as a simple lens assembly, may be used to collectthe laser exiting from the tip (e.g., free end 250) of the fiber opticcable 210 and condition it for projection.

On the RX path, reflected light may be collected by means of anomnidirectional lens or lens assembly onto a light sensor. Therefore,the distance to the object being scanned may be determined based on thesignal generated by the light sensor, while the direction of the objectmay be determined based on the position of the tip (e.g., free end 250)of the fiber optic cable 210.

Thus, the Lidar may generate a points cloud comprising highly accurate3D coordinates of the parts of the target scanned. 3D maps of theenvironment, or 3D scans of objects, may be generated based on the Lidarpoints cloud.

Collecting reflected light from the object being scanned with a widefield of view (FOV) lens onto a single light sensor may have certaindisadvantages. Because the lens has a wide FOV, background interference,such as sunlight radiation, or a car's high beam light, etc., may becollected onto the light sensor. As a result, the range of the Lidar maybe adversely affected.

As an alternative to the wide FOV lens on the RX path, the reflectedlight may be coupled back into the cantilever so that the active FOV maybe reduced. However, since coupling efficiency could be limited, thereduction in background interference may be accompanied by a reductionin useful signals. Moreover, significant leakage of the laser pulse onthe TX path into the RX path may desensitize electronics on the RX pathand therefore degrade the performance of the Lidar.

Referring to FIG. 3, a diagram illustrating an example Lidar 300including both the TX and RX paths is shown. On the TX path 310, avibrating fiber optic cantilever 315 may be utilized to project thescanning laser onto the target through TX optics 320. In one embodiment,with suitable driving signals, the free end of the fiber optic cable maytravel along a spiral pattern. The scanning pattern used does not limitthe disclosure and other scanning patterns may also be utilized. Thelaser emitting element may fire laser pulses at intervals. Each dot 325in FIG. 3 may correspond to a single laser pulse. On the RX path 330,the reflected light as well as interferences is collected by the RXoptics 335 onto a two-dimensional (2D) light sensor array 340 comprisinga plurality of light sensors. In other words, the 2D light sensor array340 may be situated at the focal plane of the RX optics 335. The type ofthe light sensors used does not limit the disclosure. For example, the2D light sensor array 340 may comprise avalanche photodiodes (APDs) orPIN photodiodes as light sensors. Shown in FIG. 3 is a 4×4 2D lightsensor array; however, the configuration of the 2D light sensor arraydoes not limit the disclosure. Further, it should be appreciated thatalthough only a single lens is shown for the RX optics 335 in FIG. 3,more complex RX optics may also be utilized.

As the FOV of each individual light sensor in the 2D light sensor array340 is only a fraction of the combined FOV of the whole system, thebackground interference collected onto each light sensor isproportionally reduced, while the reflected light useful to the Lidar isnot attenuated. Therefore, the signal-to-noise ratio (SNR) value of theLidar may be improved, increasing the range and improving the accuracyof the measurements. Moreover, the Lidar may perform more robustly inthe presence of interference.

In one embodiment described above, a pulsed Time of Flight (ToF) methodmay be utilized to measure the distance to the object being scanned. Touse the method, the time when the reflected light is registered by thespecific one or more light sensors in the 2D light sensor array 340 withrespect to the time when the corresponding laser pulse was projectedinto the environment needs to be measured. In different embodiments, themeasurement may be performed using Time-to-Digital Converters (TDCs), orAnalog-to-Digital Converters (ADCs).

With a TDC, a set of predefined threshold values may be used to triggerthe start and the stop of the counters, so when the voltage from a lightsensor exceeds a certain value, a counter may be activated. The TDC hasa simple architecture and is easy to implement. However, as the TDC iscapable of capturing only the timing information, other data useful forthe Lidar, such as the power of the reflected light, may not be capturedaccurately, or may be lost. Also, the TDC may not be able to correctlyrepresent the data available in the light sensor signal when multipleobjects, e.g., tree branches, rain droplets, etc., are present in thelight path.

On the other hand, the ADC may be better able to extract data from thelight sensor signal in a comprehensive and accurate manner. For use witha Lidar, high performance ADCs—e.g., ADCs running at approximately 10GHz—may be required. In some embodiments, the ADC performancerequirement may be relaxed with a smaller ADC word size (e.g., 8 bits).

The signals from the 2D light sensor array may be processed with eithera parallel architecture or a serial architecture. With the parallelarchitecture, each light sensor in the 2D light sensor array is providedwith and connected to a dedicated time measuring converter (either a TDCor an ADC). Thus, the outputs of all the light sensors in the 2D lightsensor array may be processed at once by the time measuring converters.

In one embodiment, since the direction in which each laser pulse firingis sent is known as a result of the TX path architecture, the one ormore particular light sensors in the 2D light sensor array that willreceive the corresponding reflected light are also known. With such anarchitecture, the accuracy of the Lidar measurements is defined by thescanning resolution on the TX path, while the RX path architectureenhances the SNR of the measurements. In other words, only the timinginformation is unknown and needs to be measured, because outputs fromlight sensors in the 2D light sensor array that will not receive thereflected light do not contain useful information.

Referring to FIG. 4, a diagram illustrating an example serialarchitecture 400 for extracting data from a 2D light sensor array isshown. All the outputs from the individual light sensors in the 2D lightsensor array 410 may be routed through a dynamic switch 420. Based onthe direction of the projected laser pulse, which may be obtained fromthe TX path, the dynamic switch 420 may route the output from the one ormore particular light sensors that are expected to receive the reflectedlight onto the time measuring converter(s) 430. Depending on differentimplementations, the number of the time measuring converter(s) 430 mayvary. In one embodiment, a single time measuring converter 430 may beused. The number of the time measuring converter(s) 430 limits thenumber of light sensors from which signals are processed for each laserpulse firing. After each new laser pulse firing on the TX path, thedynamic switch 420 may correspondingly route the outputs from a newparticular set of one or more light sensors to the time measuringconverter(s) 430. Therefore, with the use of the dynamic switch 420,fewer time measuring converters 430 than the number of light sensors maybe required. In one embodiment, only a single time measuring converter430 is required and used.

The 2D light sensor array may also be utilized to assist in acalibration/re-calibration process of the TX path. When the reflectedlight is not received by the expected one or more light sensors in the2D light sensor array, the TX path may not be projecting laser pulses inthe right direction. By correlating the apparent projection directionswith the light sensors that receive the reflected light, acalibration/re-calibration process for the TX path may be performed, andtuning parameters updated.

Therefore, embodiments of the disclosure are related to a Lidarcomprising a vibrating fiber optic cantilever system on the TX path anda 2D light sensor array on the RX path. The vibrating fiber opticcantilever system may further comprise a piezo ceramic tube and a fiberoptic cable. The free end of the fiber optic cable may be extendedoutside the free end of the piezo ceramic tube by a predeterminedlength. The piezo ceramic tube may be driven by a suitable signal tovibrate at the resonant frequency of the cantilever system such that thevibration is amplified at the free end of the fiber optic cable. Themotion of the free end of the fiber optic cable may follow apredetermined scanning pattern, and a laser emitting element may emitlaser pulses at intervals. The laser pulses may exit from the free endof the fiber optic cable and be projected by TX optics onto the targetbeing scanned. The light reflected off the target being scanned may becollected by RX optics onto the 2D light sensor array. Based on thedirection in which a laser pulse is projected, a dynamic switch mayroute the output from one or more particular light sensors in the 2Dlight sensor array that are expected to receive the reflected light toone or more time measuring converters, wherein the time measuringconverters may be either TDCs or ADCs. In one embodiment, only one timemeasuring converter may be used.

The Lidar may process the data captured by the time measuring convertersand generate a points cloud, based on which accurate 3D maps of theenvironment, or 3D scans of the object, may be constructed. Therefore,the accuracy of the Lidar measurements is defined by the scanningresolution on the TX path, while the RX path architecture enhances theSNR of the measurements. The Lidar, according to the embodiments of thedisclosure, may have a longer range and better signal accuracy, and mayperform more robustly where interference may be present.

Another embodiment of the disclosure is related to a method forimplementing a Lidar device, comprising: implementing a vibrating fiberoptic cantilever system on a transmit (TX) path; and implementing atwo-dimensional (2D) light sensor array on a receive (RX) path.

Yet another embodiment of the disclosure is related to a non-transitorycomputer-readable medium comprising code which, when executed by aprocessor, causes the processor to implement a method comprising:driving a vibrating fiber optic cantilever system on a transmit (TX)path of a Lidar device; and driving a two-dimensional (2D) light sensorarray on a receive (RX) path of the Lidar device.

Example methods, apparatuses, or articles of manufacture presentedherein may be implemented, in whole or in part, for use in or withmobile communication devices. As used herein, “mobile device,” “mobilecommunication device,” “hand-held device,” “tablets,” etc., or theplural form of such terms may be used interchangeably and may refer toany kind of special purpose computing platform or device that maycommunicate through wireless transmission or receipt of information oversuitable communications networks according to one or more communicationprotocols, and that may from time to time have a position or locationthat changes. As a way of illustration, special purpose mobilecommunication devices, may include, for example, cellular telephones,satellite telephones, smart telephones, heat map or radio map generationtools or devices, observed signal parameter generation tools or devices,personal digital assistants (PDAs), laptop computers, personalentertainment systems, e-book readers, tablet personal computers (PC),personal audio or video devices, personal navigation units, wearabledevices, or the like. It should be appreciated, however, that these aremerely illustrative examples relating to mobile devices that may beutilized to facilitate or support one or more processes or operationsdescribed herein.

The methodologies described herein may be implemented in different waysand with different configurations depending upon the particularapplication. For example, such methodologies may be implemented inhardware, firmware, and/or combinations thereof, along with software. Ina hardware implementation, for example, a processing unit may beimplemented within one or more application specific integrated circuits(ASICs), digital signal processors (DSPs), digital signal processingdevices (DSPDs), programmable logic devices (PLDs), field programmablegate arrays (FPGAs), processors, controllers, micro-controllers,microprocessors, electronic devices, other devices units designed toperform the functions described herein, and/or combinations thereof.

The herein described storage media may comprise primary, secondary,and/or tertiary storage media. Primary storage media may include memorysuch as random access memory and/or read-only memory, for example.Secondary storage media may include mass storage such as a magnetic orsolid-state hard drive. Tertiary storage media may include removablestorage media such as a magnetic or optical disk, a magnetic tape, asolid-state storage device, etc. In certain implementations, the storagemedia or portions thereof may be operatively receptive of, or otherwiseconfigurable to couple to, other components of a computing platform,such as a processor.

In at least some implementations, one or more portions of the hereindescribed storage media may store signals representative of data and/orinformation as expressed by a particular state of the storage media. Forexample, an electronic signal representative of data and/or informationmay be “stored” in a portion of the storage media (e.g., memory) byaffecting or changing the state of such portions of the storage media torepresent data and/or information as binary information (e.g., ones andzeros). As such, in a particular implementation, such a change of stateof the portion of the storage media to store a signal representative ofdata and/or information constitutes a transformation of storage media toa different state or thing.

In the preceding detailed description, numerous specific details havebeen set forth to provide a thorough understanding of claimed subjectmatter. However, it will be understood by those skilled in the art thatclaimed subject matter may be practiced without these specific details.In other instances, methods and apparatuses that would be known by oneof ordinary skill have not been described in detail so as not to obscureclaimed subject matter.

Some portions of the preceding detailed description have been presentedin terms of algorithms or symbolic representations of operations onbinary digital electronic signals stored within a memory of a specificapparatus or special purpose computing device or platform. In thecontext of this particular specification, the term specific apparatus orthe like includes a general purpose computer once it is programmed toperform particular functions pursuant to instructions from programsoftware. Algorithmic descriptions or symbolic representations areexamples of techniques used by those of ordinary skill in the signalprocessing or related arts to convey the substance of their work toothers skilled in the art. An algorithm is here, and generally, isconsidered to be a self-consistent sequence of operations or similarsignal processing leading to a desired result. In this context,operations or processing involve physical manipulation of physicalquantities. Typically, although not necessarily, such quantities maytake the form of electrical or magnetic signals capable of being stored,transferred, combined, compared or otherwise manipulated as electronicsignals representing information. It has proven convenient at times,principally for reasons of common usage, to refer to such signals asbits, data, values, elements, symbols, characters, terms, numbers,numerals, information, or the like. It should be understood, however,that all of these or similar terms are to be associated with appropriatephysical quantities and are merely convenient labels.

Unless specifically stated otherwise, as apparent from the followingdiscussion, it is appreciated that throughout this specificationdiscussions utilizing terms such as “processing,” “computing,”“calculating,” “identifying”, “determining”, “establishing”,“obtaining”, and/or the like refer to actions or processes of a specificapparatus, such as a special purpose computer or a similar specialpurpose electronic computing device. In the context of thisspecification, therefore, a special purpose computer or a similarspecial purpose electronic computing device is capable of manipulatingor transforming signals, typically represented as physical electronic ormagnetic quantities within memories, registers, or other informationstorage devices, transmission devices, or display devices of the specialpurpose computer or similar special purpose electronic computing device.In the context of this particular patent application, the term “specificapparatus” may include a general-purpose computer once it is programmedto perform particular functions pursuant to instructions from programsoftware.

Reference throughout this specification to “one example”, “an example”,“certain examples”, or “exemplary implementation” means that aparticular feature, structure, or characteristic described in connectionwith the feature and/or example may be included in at least one featureand/or example of claimed subject matter. Thus, the appearances of thephrase “in one example”, “an example”, “in certain examples” or “in someimplementations” or other like phrases in various places throughout thisspecification are not necessarily all referring to the same feature,example, and/or limitation. Furthermore, the particular features,structures, or characteristics may be combined in one or more examplesand/or features.

While there has been illustrated and described what are presentlyconsidered to be example features, it will be understood by thoseskilled in the art that various other modifications may be made, andequivalents may be substituted, without departing from claimed subjectmatter. Additionally, many modifications may be made to adapt aparticular situation to the teachings of claimed subject matter withoutdeparting from the central concept described herein. Therefore, it isintended that claimed subject matter not be limited to the particularexamples disclosed, but that such claimed subject matter may alsoinclude all aspects falling within the scope of appended claims, andequivalents thereof.

What is claimed is:
 1. A Lidar device, comprising: a vibrating fiberoptic cantilever system on a transmit (TX) path; and a two-dimensional(2D) light sensor array on a receive (RX) path.
 2. The Lidar device ofclaim 1, wherein the vibrating fiber optic cantilever system furthercomprises a piezo ceramic tube and a fiber optic cable, and a free endof the fiber optic cable extends outside a free end of the piezo ceramictube by a predetermined length, and wherein the piezo ceramic tube isdriven by a signal to vibrate at a resonant frequency of the vibratingfiber optic cantilever system such that the vibration is amplified atthe free end of the fiber optic cable.
 3. The Lidar device of claim 2,wherein a motion of the free end of the fiber optic cable follows apredetermined scanning pattern.
 4. The Lidar device of claim 3, furthercomprising a laser emitting element that emits laser pulses atintervals.
 5. The Lidar device of claim 4, further comprising TX optics,wherein a laser pulse exits from the free end of the fiber optic cableand is projected through the TX optics and onto a target.
 6. The Lidardevice of claim 5, further comprising RX optics, wherein light reflectedoff the target is collected by the RX optics onto the 2D light sensorarray.
 7. The Lidar device of claim 6, further comprising a dynamicswitch and one or more time measuring converters, wherein based on adirection in which the laser pulse is projected, the dynamic switchroutes outputs from one or more particular light sensors in the 2D lightsensor array that are expected to receive the reflected light to thetime measuring converters.
 8. The Lidar device of claim 7, wherein thetime measuring converters are either Time-to-Digital Converters (TDCs)or Analog-to-Digital Converters (ADCs).
 9. The Lidar device of claim 1,wherein the 2D light sensor array comprises avalanche photodiodes (APDs)or PIN photodiodes.
 10. A method for implementing a Lidar device,comprising: implementing a vibrating fiber optic cantilever system on atransmit (TX) path; and implementing a two-dimensional (2D) light sensorarray on a receive (RX) path.
 11. The method of claim 10, wherein thevibrating fiber optic cantilever system further comprises a piezoceramic tube and a fiber optic cable, and a free end of the fiber opticcable extends outside a free end of the piezo ceramic tube by apredetermined length, and wherein the piezo ceramic tube is driven by asignal to vibrate at a resonant frequency of the vibrating fiber opticcantilever system such that the vibration is amplified at the free endof the fiber optic cable.
 12. The method of claim 11, wherein a motionof the free end of the fiber optic cable follows a predeterminedscanning pattern.
 13. The method of claim 12, further comprisingimplementing a laser emitting element that emits laser pulses atintervals.
 14. The method of claim 13, further comprising implementingTX optics, wherein a laser pulse exits from the free end of the fiberoptic cable and is projected through the TX optics and onto a target.15. The method of claim 14, further comprising implementing RX optics,wherein light reflected off the target is collected by the RX opticsonto the 2D light sensor array.
 16. The method of claim 15, furthercomprising implementing a dynamic switch and one or more time measuringconverters, wherein based on a direction in which the laser pulse isprojected, the dynamic switch routes outputs from one or more particularlight sensors in the 2D light sensor array that are expected to receivethe reflected light to the time measuring converters.
 17. The method ofclaim 16, wherein the time measuring converters are eitherTime-to-Digital Converters (TDCs) or Analog-to-Digital Converters(ADCs).
 18. The method of claim 10, wherein the 2D light sensor arraycomprises avalanche photodiodes (APDs) or PIN photodiodes.
 19. A Lidardevice, comprising: a vibrating fiber optic cantilever means on atransmit (TX) path; and a two-dimensional (2D) light sensing means on areceive (RX) path.
 20. The Lidar device of claim 19, wherein thevibrating fiber optic cantilever means further comprises a piezo ceramictube and a fiber optic cable, and a free end of the fiber optic cableextends outside a free end of the piezo ceramic tube by a predeterminedlength, and wherein the piezo ceramic tube is driven by a signal tovibrate at a resonant frequency of the vibrating fiber optic cantileversystem such that the vibration is amplified at the free end of the fiberoptic cable.
 21. The Lidar device of claim 20, wherein a motion of thefree end of the fiber optic cable follows a predetermined scanningpattern.
 22. The Lidar device of claim 21, further comprising a laseremitting means that emits laser pulses at intervals.
 23. The Lidardevice of claim 22, further comprising TX optics, wherein a laser pulseexits from the free end of the fiber optic cable and is projectedthrough the TX optics and onto a target.
 24. The Lidar device of claim23, further comprising RX optics means, wherein light reflected off thetarget is collected by the RX optics onto the 2D light sensor array. 25.A non-transitory computer-readable medium comprising code which, whenexecuted by a processor, causes the processor to implement a methodcomprising: driving a vibrating fiber optic cantilever system on atransmit (TX) path of a Lidar device; and driving a two-dimensional (2D)light sensor array on a receive (RX) path of the Lidar device.
 26. Thenon-transitory computer-readable medium of claim 25, wherein thevibrating fiber optic cantilever system further comprises a piezoceramic tube and a fiber optic cable, and a free end of the fiber opticcable extends outside a free end of the piezo ceramic tube by apredetermined length, and wherein the piezo ceramic tube is driven by asignal to vibrate at a resonant frequency of the vibrating fiber opticcantilever system such that the vibration is amplified at the free endof the fiber optic cable.
 27. The non-transitory computer-readablemedium of claim 26, wherein a motion of the free end of the fiber opticcable follows a predetermined scanning pattern.
 28. The non-transitorycomputer-readable medium of claim 27, further comprising code fordriving a laser emitting element that emits laser pulses at intervals.29. The non-transitory computer-readable medium of claim 28, furthercomprising code for driving TX optics, wherein a laser pulse exits fromthe free end of the fiber optic cable and is projected through the TXoptics and onto a target.
 30. The non-transitory computer-readablemedium of claim 29, further comprising code for driving RX optics,wherein light reflected off the target is collected by the RX opticsonto the 2D light sensor array.